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Re: [Paparazzi-devel] Unknown function

From: Pascal Brisset
Subject: Re: [Paparazzi-devel] Unknown function
Date: Wed, 17 Oct 2007 08:33:36 +0200
User-agent: Icedove (X11/20070607)

Daniel Morgan wrote:
IR_TopOfIr in the infared.c file?
No, IR_TopOfIr should be in your airframe file (the IR_ prefix comes from the header of the section):

<section name="INFRARED" prefix="IR_"> <linear name="TopOfIr" arity="1" coeff1="-1"/>

The generated macro appears in the airframe.h file (under var/NameOfTheAC)

... Does anyone know what this does?
It computes a normalized vertical infrared value from the ADC value (IR_TOP channel). The value must be positive when the plane is flat (hot ground, cold sky).

I am trying to find it but it does not show up anywhere when i grep it. Also if anyone would like to help give me a better idea of how the ir sensors data is translated into angle
estimator.c:354 : estimator_phi = atan2(tmp_ir_roll, tmp_ir_top) - ir_roll_neutral;


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